U.S. patent application number 15/416410 was filed with the patent office on 2018-07-26 for self-defrosting sensor.
This patent application is currently assigned to Ford Global Technologies, LLC. The applicant listed for this patent is Ford Global Technologies, LLC. Invention is credited to Mark Edward Nichols, Kenneth Edward Nietering, Christopher Michael Seubert.
Application Number | 20180208028 15/416410 |
Document ID | / |
Family ID | 61283515 |
Filed Date | 2018-07-26 |
United States Patent
Application |
20180208028 |
Kind Code |
A1 |
Seubert; Christopher Michael ;
et al. |
July 26, 2018 |
SELF-DEFROSTING SENSOR
Abstract
A computer is programmed to modify an electrical property to
adjust an opacity of a sensor cover window. The computer is
programmed to actuate an excitation source to emit electro-magnetic
beams toward the cover window.
Inventors: |
Seubert; Christopher Michael;
(New Hudson, MI) ; Nietering; Kenneth Edward;
(Dearborn, MI) ; Nichols; Mark Edward; (Saline,
MI) |
|
Applicant: |
Name |
City |
State |
Country |
Type |
Ford Global Technologies, LLC |
Dearborn |
MI |
US |
|
|
Assignee: |
Ford Global Technologies,
LLC
Dearborn
MI
|
Family ID: |
61283515 |
Appl. No.: |
15/416410 |
Filed: |
January 26, 2017 |
Current U.S.
Class: |
1/1 |
Current CPC
Class: |
G01S 2007/4977 20130101;
H05B 2214/02 20130101; G01S 7/497 20130101; H05B 3/84 20130101;
G01S 7/499 20130101; G01S 17/931 20200101; H05B 3/0042 20130101;
G01S 7/4813 20130101 |
International
Class: |
B60J 3/04 20060101
B60J003/04; G01S 17/93 20060101 G01S017/93; G01S 7/481 20060101
G01S007/481; H05B 3/84 20060101 H05B003/84 |
Claims
1. A computer, programmed to: modify an electrical property to
adjust an opacity of a sensor cover window; and actuate an
excitation source to emit electro-magnetic beams toward the cover
window.
2. The computer of claim 1, further programmed to modify the
electrical property of the cover window upon determining that a
vehicle exterior temperature is below a temperature threshold.
3. The computer of claim 1, further programmed to modify the
electrical property of the cover window upon determining that a
vehicle including the sensor is at least one of operating in a
non-autonomous mode and in a non-moving state.
4. The computer of claim 1, further programmed to receive data from
received reflections of the emitted electro-magnetic beams and to
detect one or more objects based on the received data.
5. The computer of claim 1, wherein the computer is further
programmed to modify the electrical property of the cover window by
outputting an electrical voltage to one of more electrodes mounted
to the cover window.
6. The computer of claim 1, wherein the computer is further
programmed to modify the electrical property of the cover window by
outputting an electric voltage to a conductive material
incorporated in the cover window.
7. The computer of claim 1, wherein the sensor includes a LIDAR
sensor, wherein the LIDAR sensor includes the cover window.
8. A system, comprising: a LIDAR sensor including a cover having a
window, the window including means for varying an opacity of the
window upon application of a voltage to the window.
9. The system of claim 8, further comprising a vehicle body having
a roof, wherein the LIDAR sensor is mounted to the roof.
10. The system of claim 8, further comprising a computer programmed
to actuate the means for varying the opacity of the window to
increase the opacity of the window.
11. The system of claim 8, wherein the window includes a
transparent state and an opaque state.
12. The system of claim 8, wherein the window includes a lens.
13. The system of claim 8, wherein the window is formed of at least
one of glass and plastic.
14. The system of claim 8, wherein the cover is formed of at least
one of plastic and metal.
15. The system of claim 8, wherein the LIDAR sensor further
includes a sensor body and the cover is rotatable relative to the
sensor body.
16. The system of claim 8, wherein the LIDAR sensor is mountable to
a vehicle.
17. The system of claim 8, further comprising means for supplying
the voltage to the window.
18. A method, comprising: modifying an electrical property to
adjust an opacity of a cover window of a LIDAR sensor; and
actuating a LIDAR excitation source to emit electro-magnetic beams
to the LIDAR cover window.
19. The method of claim 18, wherein the electrical property of the
cover window is modified to darken the LIDAR cover window only if a
vehicle exterior temperature is below a temperature threshold.
20. The method of claim 18, wherein modifying the electrical
property of the cover window further includes outputting an
electric voltage to a material incorporated in the cover window.
Description
BACKGROUND
[0001] A vehicle may include one or more object detection sensors
such as Light Detection and Ranging (LIDAR) sensors to detect
objects, e.g., in an area outside the vehicle. A sensor for
detecting objects outside a vehicle may be mounted to a vehicle
exterior. For example, a sensor may be mounted to a vehicle roof,
pillar, etc. A sensor such as a LIDAR sensor is typically subject
to environmental conditions, e.g., heat, cold, humidity, etc., that
can impair operation of the sensor.
BRIEF DESCRIPTION OF THE DRAWINGS
[0002] FIG. 1 is a diagram illustrating an example vehicle.
[0003] FIG. 2A is a diagram showing an example LIDAR sensor.
[0004] FIG. 2B is a diagram showing another example LIDAR sensor
with rotational components.
[0005] FIG. 3A is a diagram showing an exemplary window of a LIDAR
sensor including a material with a changeable opacity.
[0006] FIG. 3B is a diagram showing the window of FIG. 3A in a
darkened state.
[0007] FIG. 4A is a diagram showing another exemplary window of a
LIDAR sensor including a movable polarizing film.
[0008] FIG. 4B is a diagram showing the window of FIG. 4A in a
darkened state.
[0009] FIG. 5 is a flowchart of an exemplary process for operating
a LIDAR sensor.
DETAILED DESCRIPTION
Introduction
[0010] Referring to FIGS. 1 and 2A-2B, a vehicle 100 computer 110
is programmed to modify an electrical property of a sensor 130
cover 210 window 220 to darken. For example, the sensor 130 may be
a Light Detection and Ranging (LIDAR) sensor. The computer 110 is
programmed to actuate an excitation source such as a LIDAR sensor
130 excitation source 230 to emit electro-magnetic beams to the
cover 210 window 220, e.g., to defrost the window 220.
Exemplary System Elements
[0011] FIG. 1 illustrates a vehicle 100. The vehicle 100 may be
powered in a variety of known ways, e.g., with an electric motor
and/or internal combustion engine. The vehicle 100 may be a land
vehicle such as a car, truck, etc. A vehicle 100 may include a
computer 110, actuator(s) 120, sensor(s) 130, and a user interface
140.
[0012] The computer 110 includes a processor and a memory such as
are known. The memory includes one or more forms of
computer-readable media, and stores instructions executable by the
computer 110 for performing various operations, including as
disclosed herein.
[0013] The computer 110 may operate the vehicle 100 in an
autonomous mode, a semi-autonomous mode, or a non-autonomous mode.
For purposes of this disclosure, an autonomous mode is defined as
one in which each of vehicle 100 propulsion, braking, and steering
are controlled by the computer 110; in a semi-autonomous mode the
computer 110 controls one or two of vehicles 100 propulsion,
braking, and steering; in a non-autonomous mode, an operator
controls the vehicle 100 propulsion, braking, and steering.
[0014] The computer 110 may include programming to operate one or
more of land vehicle brakes, propulsion (e.g., control of
acceleration in the vehicle by controlling one or more of an
internal combustion engine, electric motor, hybrid engine, etc.),
steering, climate control, interior and/or exterior lights, etc.,
as well as to determine whether and when the computer 110, as
opposed to a human operator, is to control such operations.
Additionally, the computer 110 may be programmed to determine
whether and when a human operator is to control such
operations.
[0015] The computer 110 may include or be communicatively coupled
to, e.g., via a vehicle 100 communications bus as described further
below, more than one processor, e.g., controllers or the like
included in the vehicle for monitoring and/or controlling various
vehicle controllers, e.g., a powertrain controller, a brake
controller, a steering controller, etc. The computer 110 is
generally arranged for communications on a vehicle communication
network that can include a bus in the vehicle such as a controller
area network (CAN) or the like, and/or other wired and/or wireless
mechanisms.
[0016] Via the vehicle 100 network, the computer 110 may transmit
messages to various devices in the vehicle and/or receive messages
from the various devices, e.g., an actuator 120, a user interface
140, etc. Alternatively or additionally, in cases where the
computer 110 actually comprises multiple devices, the vehicle 100
communication network may be used for communications between
devices represented as the computer 110 in this disclosure. As
discussed further below, various electronic controllers and/or
sensors 130 may provide data to the computer 110 via the vehicle
communication network.
[0017] The vehicle 100 actuators 120 are implemented via circuits,
chips, or other electronic and/or mechanical components that can
actuate various vehicle subsystems in accordance with appropriate
control signals, as is known. The actuators 120 may be used to
control vehicle 100 systems such as braking, acceleration, and/or
steering of the vehicles 100.
[0018] Vehicle 100 sensors 130 may include a variety of devices
known to provide data via the vehicle communications bus. For
example, the sensors 130 may include one or more camera, radar,
infrared, and/or LIDAR sensors 130 disposed in the vehicle 100
and/or on the vehicle 100 providing data encompassing at least some
of the vehicle 100 exterior. The data may be received by the
computer 110 through a suitable interface such as is known. A LIDAR
sensor 130 disposed, e.g., on a top of the vehicle 100, may provide
object data including relative locations, sizes, and shapes of
objects such as other vehicles surrounding the vehicle 100. A
vehicle 100 computer 110 may receive the object data and operate
the vehicle in an autonomous and/or semi-autonomous mode based at
least in part on the received object data.
[0019] The user interface device(s) 140 may be configured to
receive user input, e.g., during operation of the vehicle 100. For
example, a user may select a mode of operation, e.g., an autonomous
mode, by inputting a requested mode of operation via a user
interface device 140. Moreover, a user interface device 140 may be
configured to present information to the user. Thus, a user
interface device 140 may be located in a passenger compartment of
the vehicle 100. In an example, the computer 110 may output
information indicating that a vehicle 100 mode of operation such as
an autonomous mode is deactivated due to an event, e.g., a LIDAR
sensor 130 sensor blockage that impairs its object detection
operation.
[0020] FIGS. 2A-2B show example LIDAR sensor 130 sensors each
including a body 240, an excitation source 230, and a cover 210
having a window 220. The excitation source 230 may transmit an
electro-magnetic beam such as a laser beam through the window 220
to an area surrounding the LIDAR sensor 130. The LIDAR sensor 130
may include a receiver that receives reflections of the transmitted
electro-magnetic beams. The cover 210 may be formed of plastic,
metal, etc. The cover 210 may protect the excitation source and/or
other electronic components from environmental influences such as
rain, wind, etc. The window 220 may have a flat, round, etc. shape.
The windows 220 may be formed of glass, plastic, etc. The windows
220 may include a lens, e.g., to focus electro-magnetic beams.
[0021] As shown in FIG. 2A, a rotational LIDAR sensor 130a may
include an actuator 250, e.g., an electric motor, to move, e.g.,
rotate, the excitation source 230 relative to the body 240. In an
example, the actuator 250 may rotate the excitation source 230
about an axis A1 perpendicular to the body 240, and may provide a
360-degree horizontal field of view of an area around the LIDAR
sensor 130. In one example, the excitation source 230, the cover
210, and the window 220 may rotate about the axis A1. In another
example, the cover 210 including the window 220 may be fixed to the
body 240, e.g., the excitation source 230 rotates relative to the
body 240 and the cover 210. As shown in FIG. 2B, an example
non-rotational LIDAR sensor 130b may lack an actuator 250, i.e.,
the cover 210, the window 220, and the excitation source 230 may be
fixed relative to the body 240.
[0022] In order to provide data, a window 220 of a LIDAR sensor 130
may allow the transmitted electro-magnetic beams and received
reflections of the transmitted radiations to pass through the
window 220. Various conditions may cause a window 220 blockage,
e.g., attenuating (weakening) the transmitted radiations and/or
reflections thereof when passing through the window 220. For
example, an object detection operation of a LIDAR sensor 130 may be
impaired upon a blockage of the LIDAR sensor 130 window 220. In one
example, air moisture may build up a frost layer on an exterior
surface of the LIDAR sensor 130 window 220 and cause a frost
blockage of the LIDAR sensor 130, e.g., when an outside air
temperature is below 5 degrees Celsius. For example, the computer
110 may be programmed to activate a non-autonomous mode of the
vehicle 100 upon determining that a LIDAR sensor 130 cannot provide
object data, e.g., due to a frost blockage of the LIDAR sensor
130.
[0023] Heating a LIDAR sensor 130 window 220 may defrost the window
220 and/or may prevent a frost build-up. In one example, the
vehicle 100 computer 110 is programmed to modify an electrical
property of a LIDAR sensor 130 cover 210 window 220 to darken. The
computer 110 may then actuate a LIDAR sensor 130 excitation source
230 to emit electro-magnetic beams to the cover 210 including the
window 220. The darkened window 220 may absorb energy from the
emitted electro-magnetic beams. Thus, the absorbed energy may
generate heat in the window 220 and defrost the window 220, and/or
may prevent building up frost. Additionally, the computer 110 may
be programmed to actuate the excitation source 230 to increase an
intensity of the emitted electro-magnetic beams to, e.g., speed up
a defrost of the window 220. An intensity of the emitted
electro-magnetic beams in the context of the present disclosure
means a measure of power emitted by the electro-magnetic beams.
[0024] Various techniques may be used to make a window 220 with an
electrical property that provides an opacity which can be
controlled via a computer 110. In one example, as shown in FIGS.
3A-3B, the window 220 may include a material with an electrical
property to influence an opacity of the window 220. Opacity is a
measure of the degree to which electromagnetic radiation such as
the radiation emitted by the sensor 130 penetrates the window 220.
For example, an opaque window 220 with a high opacity attenuates
the emitted energy more than a transparent window 220 with a low
opacity. For example, for a given medium, e.g., the material
included in the window 220, and a given frequency, e.g., a
frequency of the radiation transmitted by the excitation source
230, an opacity may have a numerical quantity between 0% (zero) and
100%. Zero percent opacity may be associated with a transparent
material, whereas 100% opacity may be associated with an opaque
material completely preventing a radiation with the given frequency
from passing through the given medium. An electrical property in
the present context includes a change of opacity based on an
electrical input, e.g., an amount of an electric current, a
voltage, and/or a frequency, etc. In other words, an opacity of a
material with the electrical property may change in accordance to a
current, a voltage, etc. applied to the material. In one example,
an opacity state of a window 220 may be changed between an opaque
state and a transparent state. Additionally or alternatively, an
opacity of a window 220 may be changed between multiple levels
based on an electrical input.
[0025] For example, as shown in FIGS. 3A-3B, the window 220 may
include an area 320 incorporating an electrochromic material, e.g.,
tungsten oxide, as a material having an electrical property as
described above, i.e., a dependence of opacity on an electric
input. For example, the area 320 may include a polymer-based film
including an electrochromic material that is attached, e.g.,
laminated, to the window 220. Additionally or alternatively, the
area 320 may include materials produced using Suspended Particle
Device (SPD) technology, such as is known, that can be switched
from clear to darkened states. Additionally or alternatively, the
area 320 may include a material produced based on known Polymer
Dispersed Liquid Crystal (PDLC) technology. In an absence of an
electric field, crystals (particles) of SPD and/or PDLC material
incorporated in a window 220 are randomly oriented and may absorb
the emitted electro-magnetic radiation, i.e., the window 220 has a
high opacity. In a presence of an electric field, the crystals
orient with the field and pass the electro-magnetic radiation,
i.e., the window 220 has a relatively lower opacity.
[0026] As shown in FIGS. 3A-3B, the window 220 may include
electrodes 310a, 310b for actuating the area 320, e.g., by applying
an electric voltage between the electrodes 310a, 310b, e.g., via an
electric circuit. For example, when the window 220 area 320
includes SPD and/or PDLC-based material, the computer 110 may
output a voltage, e.g., 0 (zero) Volt, between the electrodes 310a,
310b to darken, i.e., increase opacity of, the window 220 to a high
opacity, e.g., 90% (see FIG. 3B). The computer 110 may be
programmed to output a different voltage, e.g., 100 Volt AC
(Alternating Current) for SPD-based material, 50 Volt AC for
PDLC-based material, etc., between the electrodes 310a, 310b to
reduce the opacity of the window 220 (see FIG. 3A). In another
example, when the window 220 area 320 includes electrochromic
material, the computer 110 may be programmed to output a first
voltage, e.g., 3 Volt DC (Direct Current), to reduce the opacity of
the window 220 (see FIG. 3A). Further, the computer 110 may be
programmed to output a voltage at a reverse polarity with respect
to the first voltage, e.g., -3 Volt DC, to darken, i.e., increase
opacity of, the window 220 to a high opacity, e.g., 90% (see FIG.
3B).
[0027] The computer 110 may be programmed to actuate the excitation
source 230 to emit an electro-magnetic beam, e.g., an infrared
beam, to the cover 210. Such operation of the LIDAR sensor 130,
i.e., darkened window 220 and emitting electro-magnetic beams to
the window 220 to generate heat, may be referred to as "defrost
mode." On the other hand, in an "object detection mode", the
computer 110 may actuate the window 220 to become transparent,
i.e., to have a low opacity, e.g., 5%, and emit electro-magnetic
radiations to detect objects.
[0028] In another example, as shown in FIGS. 4A-4B, an opacity of
the window 220 may be modified by moving polarizing films with
respect to one another. For example, the LIDAR sensor 130 window
220 may include a first polarizing film 410, e.g., attached to the
window 220, and a second polarizing film 420 that is moveable
relative to the first polarizing film 410. In one example, the
LIDAR sensor 130 may include an electromechanical actuator 430,
e.g., a solenoid, mechanically coupled to the second polarizing
film 420. In a first position of the second polarizing film 420
relative to the first polarizing film 410, the window 220 may have
a low opacity (see FIG. 4A). In a defrost mode, the computer 110
may be programmed to move the second polarizing film 420
(rotationally and/or linearly) relative to the first polarizing
film 410 to a second position that causes to darken the window 220
(see FIG. 4B). In one example, the polarizing films 410, 420 may
include wave plates (or retarders), e.g., formed of birefringent
material such as quartz, etc. For example, the polarizing films
410, 420 with the wave plate may move linearly relative to one
another to darken the window 220, e.g., by a linear translation of
the polarity of the beams. Additionally or alternatively, an
opacity of a window 220 polarizing film 410 may be changeable based
on a polarity of the emitted electro-magnetic beams. Thus, the
computer 110 may be programmed to change a polarity of the
electro-magnetic beams emitted from the excitation source 230 to
change an opacity of the window 220. For example, the computer 110
may be programmed to cause an emission of electro-magnetic beams
with a first polarity, to which the window 220 polarizing film 410
reacts with a low opacity, when the sensor 130 is operated in the
object detection mode. The computer 110 may be programmed to cause
an emission of electromagnetic beams with a second polarity, to
which the window 220 polarizing film 410 reacts with a higher
opacity, e.g., 80%, when the sensor 130 operates in the defrost
mode.
[0029] With reference to FIGS. 3A-3B and 4A-4B, in a defrost mode,
due to darkening of the window 220, the computer 110 may not
receive object detection data from the LIDAR sensor 130. In one
example, the computer 110 may be programmed to deactivate an
autonomous mode of the vehicle 100 when the LIDAR sensor 130 window
220 is in the defrost mode. In one example, the vehicle 100 may be
operated by a user only in the non-autonomous mode when the LIDAR
sensor 130 window 220 is in the defrost mode. In another example,
the computer 110 may be programmed to activate the defrost mode of
the LIDAR sensor 130 upon determining that the vehicle 100 is in a
non-moving state, e.g., parked, and/or an exterior temperature is
below a predetermined threshold, e.g., 5 degrees Celsius. In
another example, the computer 110 may be programmed to actuate the
excitation source to emit electro-magnetic beams in the defrost
mode that have a different wavelength spectrum compared to the
beams emitted when the LIDAR sensor 130 is in the object detection
mode. For example, in the object detection mode, the computer 110
may actuate the excitation source 230 to emit beams with a
wavelength of 905 nanometer (nm). On the other hand, in the defrost
mode, the computer 110 may actuate the excitation source 230 to
emit beams with a wavelength of 700 nm.
Processing
[0030] FIG. 5 is a flowchart of an example process 500 for
defrosting a LIDAR sensor 130 window 220. In one example, the
vehicle 100 computer 110 can be programmed to execute and/or to
instruct actuators to execute blocks of the process 500.
[0031] The process 500 begins at a decision block 505, in which the
computer 110 determines whether the vehicle 100 is operating in one
of an autonomous mode and a semi-autonomous mode, or is operating
in a non-autonomous mode. Additionally or alternatively, the
computer 110 may inhibit an operation of the vehicle 100 in an
autonomous mode and/or semi-autonomous mode upon determining that
the LIDAR sensor 130 has built-up frost, e.g., based on received
reflections by a LIDAR sensor 130 electro-magnetic receiver. For
example, the computer 110 may activate a vehicle 100 non-autonomous
mode upon determining that an operation of the LIDAR sensor 130 is
impaired, e.g., because of frost. If the computer 110 determines
that the vehicle 100 is in one of the autonomous and
semi-autonomous modes, then the process 500 proceeds to a block
530; otherwise the vehicle 100 is determined to be in a
non-autonomous mode, and the process 500 proceeds to a decision
block 510.
[0032] In the decision block 510, the computer 110 determines
whether an outside temperature is below a predetermined threshold,
e.g., 5 degrees Celsius, and/or determines that a frost on the
LIDAR sensor 130 window 220 is detected. In one example, the
computer 110 may receive temperature data from an outside
temperature sensor mounted to, e.g., a vehicle 100 bumper.
Additionally or alternatively, the computer 110 may be programmed
to determine whether a frost has built-up on the window 220, e.g.,
based on received reflections. If the computer 110 determines that
the outside temperature is below the predetermined threshold and/or
determines that a frost on the LIDAR sensor 130 window 220 is
detected, then the process 500 proceeds to a block 511; otherwise
the process 500 ends, or alternatively returns to the decision
block 505 (although this alternative is not shown in FIG. 5).
[0033] In the block 511, the computer 110 activates the defrost
mode of the LIDAR sensor 130. In one example, the computer 110
prevents activation of a vehicle 100 autonomous mode and/or a
vehicle 100 semi-autonomous mode upon determining that the LIDAR
sensor 130 operates in the defrost mode.
[0034] Next, in a block 515, the computer 110 modifies an electric
property of the window 220 of the vehicle 100 LIDAR sensor 130 to
darken, i.e., increases an opacity of, the window 220. For example,
the computer 110 can actuate increasing opacity of an area 320 by
causing actuation of the electrodes 310a, 310b (see FIGS. 3A-3B),
actuating an actuator 430 to move a second polarizing film 420
relative to a first polarizing film 410 (see FIGS. 4A-4B), etc.
[0035] Next, in a block 520, the computer 110 actuates the
excitation source 230 to operate in a defrost mode, e.g., by
emitting electro-magnetic beams such as infrared beams directed
toward the cover 210 window 220. Thus, advantageously, the LIDAR
sensor 130 may be defrosted and/or frosting of the LIDAR sensor 130
may be prevented. Additionally, the computer 110 may be programmed
to actuate the excitation source to increase an intensity of
electro-magnetic beams emitted from the excitation source to, e.g.,
a maximum available intensity level of the excitation source 230.
Upon defrosting a LIDAR sensor 130, the LIDAR sensor 130 may be
placed in an object detection mode, and may become operable to
detect objects where frost would otherwise prevent such operation,
and further, for example, the vehicle 100 may operate in an
autonomous mode, which otherwise may be unavailable due to a frost
blockage on a LIDAR sensor 130 window 220.
[0036] Next, in a decision block 525, the computer 110 determines
whether the window 220 is defrosted. As one example, the computer
110 may be programmed to temporarily reduce an opacity of the
window 220, e.g., by reducing opacity of an area 320 by actuating
electrodes 310a, 310b. The computer 110 may then determine, based
on received reflections of beams emitted from the excitation source
230, whether the window 220 is defrosted. After determining whether
the window 220 is defrosted, the computer 110 may increase opacity
of the area 320, e.g., by causing actuation of the electrodes 310a,
310b (i.e., resuming an opacity used during defrost mode). If the
computer 110 determines that the window 220 is defrosted, then the
process 500 proceeds to a block 528; otherwise the process 500
returns to the block 520.
[0037] In the block 528, the computer 110 activates the object
detection mode of the LIDAR sensor 130. For example, the computer
110 may be programmed to actuate the window 220, e.g., via the
electrodes 310a, 310b, to reduce an opacity of the window 220.
[0038] In the block 530, the computer 110 actuates the excitation
source 230 to operate in an object detection mode. For example, the
computer 110 actuates the excitation source to emit laser beams,
receive the reflections of the emitted laser beams via an
electro-magnetic receiver, and detect objects based at least in
part on the received reflections.
[0039] Next, in a block 535, when the vehicle 100 includes a
rotational LIDAR sensor 130, the computer 110 may actuate an
actuator 250 to rotate the excitation source 230 relative to the
body 240. For non-rotational sensors 130b, the block 535 will be
omitted.
[0040] Next, in a block 540, the computer 110 may detect one or
more objects in an area within a field of view of the LIDAR sensor
130. For example, the computer 110 may receive data including
relative locations, sizes, and shapes of objects such as other
vehicles surrounding the vehicle 100.
[0041] Next, in a block 545, the computer 110 causes an action
based at least in part on the detected objects. For example, the
computer 110 may actuate a vehicle 100 brake actuator 120 to
decelerate the vehicle 100 based on the received object data, e.g.,
when a distance between the vehicle 100 and a detected object on a
vehicle 100 path is less than a predetermined distance
threshold.
[0042] Following either of the block 528 or 545, the process 500
ends, or alternatively returns to the decision block 505.
[0043] Computing devices as discussed herein generally each include
instructions executable by one or more computing devices such as
those identified above, and for carrying out blocks or steps of
processes described above. Computer-executable instructions may be
compiled or interpreted from computer programs created using a
variety of programming languages and/or technologies, including,
without limitation, and either alone or in combination, Java.TM.,
C, C++, Visual Basic, Java Script, Perl, HTML, etc. In general, a
processor (e.g., a microprocessor) receives instructions, e.g.,
from a memory, a computer-readable medium, etc., and executes these
instructions, thereby performing one or more processes, including
one or more of the processes described herein. Such instructions
and other data may be stored and transmitted using a variety of
computer-readable media. A file in the computing device is
generally a collection of data stored on a computer readable
medium, such as a storage medium, a random access memory, etc.
[0044] A computer-readable medium includes any medium that
participates in providing data (e.g., instructions), which may be
read by a computer. Such a medium may take many forms, including,
but not limited to, non-volatile media, volatile media, etc.
Non-volatile media include, for example, optical or magnetic disks
and other persistent memory. Volatile media include dynamic random
access memory (DRAM), which typically constitutes a main memory.
Common forms of computer-readable media include, for example, a
floppy disk, a flexible disk, hard disk, magnetic tape, any other
magnetic medium, a CD-ROM, DVD, any other optical medium, punch
cards, paper tape, any other physical medium with patterns of
holes, a RAM, a PROM, an EPROM, a FLASH, an EEPROM, any other
memory chip or cartridge, or any other medium from which a computer
can read.
[0045] With regard to the media, processes, systems, methods, etc.
described herein, it should be understood that, although the steps
of such processes, etc. have been described as occurring according
to a certain ordered sequence, such processes could be practiced
with the described steps performed in an order other than the order
described herein. It further should be understood that certain
steps could be performed simultaneously, that other steps could be
added, or that certain steps described herein could be omitted. In
other words, the descriptions of systems and/or processes herein
are provided for the purpose of illustrating certain embodiments,
and should in no way be construed so as to limit the disclosed
subject matter.
[0046] Accordingly, it is to be understood that the present
disclosure, including the above description and the accompanying
figures and below claims, is intended to be illustrative and not
restrictive. Many embodiments and applications other than the
examples provided would be apparent to those of skill in the art
upon reading the above description. The scope of the invention
should be determined, not with reference to the above description,
but should instead be determined with reference to claims appended
hereto and/or included in a non-provisional patent application
based hereon, along with the full scope of equivalents to which
such claims are entitled. It is anticipated and intended that
future developments will occur in the arts discussed herein, and
that the disclosed systems and methods will be incorporated into
such future embodiments. In sum, it should be understood that the
disclosed subject matter is capable of modification and
variation.
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